JP5299026B2 - Vehicle display device - Google Patents

Description

  The present invention relates to a display device for a vehicle that displays an image around the host vehicle.

  In order to prevent nighttime visibility and pedestrians from being overlooked, use a near-infrared camera that shoots by irradiating infrared light or a far-infrared camera that shoots infrared rays from heat sources such as people and vehicles, Night vision that displays moving images and still images on a monitor by visualization has been put into practical use.

  As a technology related to this night vision, Patent Document 1 discloses a problem that when a vehicle-mounted sensor detects an object with a high possibility of collision and outputs an alarm, the driver cannot correctly understand the meaning of the alarm only with the alarm buzzer. On the other hand, a technology is described that uses the display of the head-up display together to increase the brightness of the image display only at the time of alarm output, and lower the brightness of a specific area in the image to the extent that the driver cannot visually recognize in the standby state. Yes.

  Patent Document 2 describes a technique in which a living body is detected by a near-infrared camera and a far-infrared camera and a living body region is highlighted in a near-infrared image. Patent Document 3 discloses a visible light camera or an infrared camera. Describes a technique for performing display by performing contrast enhancement processing and edge enhancement processing of surrounding objects.

JP 2001-315547 A JP 2008-183933 A JP 2000-019259 A

  However, in the conventional night vision, since the image displayed on the monitor is black and white and the outline is blurred, it is difficult to recognize what is displayed. In Patent Document 1, a pedestrian is detected and surrounded by a frame and highlighted. However, when there are a plurality of pedestrians, a large number of frames are displayed on the screen, which makes it difficult to see. Further, since the driver cannot recognize the object displayed on the monitor and the surrounding environment without staring at the monitor, it is not easy to understand the sense of distance and the positional relationship, and sufficient driving support cannot be performed.

  The present invention has been made in view of the above-described problems, and an object thereof is to realize a technique capable of accurately and easily recognizing a moving body and the surrounding environment in a situation where ambient illuminance is low such as at night.

In order to solve the above-described problems and achieve the object, a first embodiment according to the present invention includes a position detection unit that detects the position of the host vehicle, and a moving body that moves around the host vehicle and moves relative to the ground. The moving body detecting means for detecting, the image photographing means for photographing an image around the own vehicle, the illuminance detecting means for detecting the illuminance around the own vehicle, and whether the illuminance detected by the illuminance detecting means is a predetermined threshold value or less. determination means for determining whether, when the illuminance is determined to exceed the predetermined threshold value by the determination means, and transmitting means for transmitting a high-luminance image captured together with the position information of the vehicle to the information center, the If it is determined that the illuminance is equal to or less than the predetermined threshold value by the determination unit, the vehicle and the receiving means, obtained by the receiving means for receiving a high-brightness background image corresponding to the position information of the vehicle from the information center Has a high intensity background image corresponding to the position information, a synthesizing means for synthesizing the mobile object detected by said moving object detecting means, and display means for displaying the synthesized image by said synthesizing means. The information center stores a high-brightness image storage unit that stores the high-brightness image together with position information of the host vehicle, and a high-brightness background image obtained by deleting a moving body extracted from the high-brightness image from the high-brightness image. Background image storage means. According to this aspect, the object and the surrounding environment can be recognized accurately and easily in a situation where the ambient illuminance is low, such as at night. In addition, high-luminance image data taken with another vehicle can be used as a background image.

Moreover, the 2nd form which concerns on this invention WHEREIN: The said display means displays the said mobile body as an icon. According to this aspect, it is possible to recognize the moving body accurately and early.

The third aspect of the present invention further includes luminance correction processing means for correcting the luminance so that the upper region of the high luminance background image received from the information center is dark and the lower region is bright. According to a fourth aspect, the brightness correction processing unit controls the brightness by overlapping the image captured by the image capturing unit and the high brightness background image when the illuminance is equal to or less than the predetermined threshold. to correct. In the fifth embodiment, the brightness correction processing means changes the color tone of the upper region of the high brightness background image received from the information center. According to these forms, since the area | region with high brightness | luminance on a screen can be made small, the light quantity which enters into a driver | operator's eyes from a screen can be reduced, and it becomes easy to visually recognize the dark vehicle exterior.

According to a sixth aspect of the present invention, the synthesizing unit creates three-dimensional data of a stationary object stationary with respect to the ground from the high-luminance background image, and is far from the host vehicle using the three-dimensional data. The brightness is corrected so that a stationary object becomes darker. In the seventh embodiment, the synthesizing unit calculates a vanishing point from the high-luminance background image, and corrects the luminance so that it is darker as it is closer to the vanishing point and brighter as it is farther from the vanishing point. In the eighth aspect, a distance detection unit that detects a distance between the mobile body detected by the mobile body detection unit and the host vehicle, and a mobile body detected by the distance detection unit and the host vehicle. Display size correction means for changing the display size of the moving object to be combined with the high-luminance background image according to the distance between them. According to these forms, the distance to the moving body can be accurately recognized.

Further, according to a ninth aspect of the present invention, in the emphasizing, the synthesizing unit specifies an object to be paid attention to the driver from the high-intensity background image, and corrects the identified object to be highlighted. It further has a correction means. In the tenth aspect, the emphasis correcting unit identifies an area that the driver wants to predict danger from the high-luminance background image, and corrects the identified area to be highlighted. According to these forms, it is possible to accurately and easily recognize the area where the driver should call attention and the area where the danger should be predicted.

The eleventh aspect according to the present invention further includes a risk determination means for determining a risk according to a distance between the moving body detected by the distance detection means and the host vehicle, and the combining means Is corrected so that the moving object having a higher risk level is highlighted. According to this aspect, a dangerous object can be recognized accurately and easily.

  ADVANTAGE OF THE INVENTION According to this invention, a mobile body and surrounding environment can be recognized correctly and easily in the condition where surrounding illumination intensity is low, such as nighttime.

It is a top view which shows the vehicle carrying the vehicle display apparatus of embodiment which concerns on this invention. It is a functional block diagram of the vehicle and information center of this embodiment. It is a flowchart which shows the process in the vehicle and information center of this embodiment. It is a figure which shows the example of a display of the synthesized image by this embodiment. It is a figure which shows the example of a display of the synthesized image by this embodiment. It is a figure which shows the example of a display of the synthesized image by this embodiment. It is a figure which shows the example of a display of the synthesized image by this embodiment. It is a figure which shows the example of a display of the synthesized image by this embodiment. It is a figure which shows the example of a display of the synthesized image by this embodiment. It is a figure which shows the example of a display of the synthesized image by this embodiment.

  Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings. The embodiment described below is an example as means for realizing the present invention, and the present invention can be applied to a modified or modified embodiment described below without departing from the spirit of the present invention. In addition, a computer program corresponding to the control of each embodiment to be described later and a storage medium storing the computer program are supplied to a computer mounted on the vehicle, and the computer reads out the program code stored in the storage medium. May be executed.

[System configuration]
FIG. 1 is a plan view showing a vehicle on which a vehicle display device according to an embodiment of the present invention is mounted, and FIG. 2 is a functional block diagram of the vehicle and information center of the present embodiment.

  As shown in FIG. 1, a vehicle 1 includes a distance sensor 2 at the front part of the vehicle body, an illuminance sensor 3 and a monitor 4 at the upper part of the instrument panel, an external camera 5 for photographing the front of the vehicle near the room mirror, and a GPS signal at the central part of the vehicle body. The position detection sensor 6 that receives the communication interface 7 is mounted on the rear part of the vehicle body. Here, the distance sensor 2 can measure a distance from a moving body around the host vehicle, and does not have to be a high-precision and high-resolution one that can generate a monitor display image. For example, an inexpensive infrared camera, CCD And a visible light camera, laser radar, and millimeter wave radar using CMOS can be applied. The illuminance sensor 3 detects the illuminance around the host vehicle. The monitor 4 can be visually recognized by the driver. For example, a head-up display, a display for a car navigation system, a monitor for switching a meter display unit of the instrument panel unit, and the like can be applied. The communication interface 7 includes a transmission / reception processing unit and a communication antenna, and performs wireless communication with the information center 100.

  As shown in FIG. 2, the vehicle 1 is communicably connected to the information center 100 via the communication interface 7. The image acquisition unit 11 acquires image data captured by the external camera 5. The illuminance determination unit 12 calculates the average luminance of the captured image input from the image acquisition unit 11 and determines whether it is a high luminance image (daytime image) captured during the daytime or a low luminance image (nighttime image) captured at night. . Whether or not the image is a high-intensity image can also be determined based on the illuminance detected by the illuminance sensor 3 and the photographing time. The display image output unit 13 outputs the daytime image determined by the illuminance determination unit 12 to the monitor 4.

  The transmission data creation processing unit 14 inputs the captured image data from the image acquisition unit 11 and the current position information of the host vehicle from the position detection sensor 6, and when the determination by the illuminance determination unit 12 is a daytime image, the daytime image In the case of data, current position information, and night image, only the current position information is transmitted to the information center 100 via the communication interface 7.

  When the determination by the illuminance determination unit 12 is a night image, the background image reception unit 15 transmits a high-luminance background image data distribution request to the information center 100 via the communication interface 7, and receives the high-luminance received from the information center 100. The background image data is output to the background image correction processing unit 16 and the high-precision moving body detection processing unit 21.

  The background image correction processing unit 16 receives the high luminance background image data input from the background image receiving unit 15 and the current illuminance information detected by the illuminance sensor 3, and the luminance correction processing unit 16a receives the luminance of the high luminance background image data. Is output to the synthesis processing unit 20. This brightness correction processing is performed by calculating a brightness correction value from the current position information, current time information, and estimated illuminance information of the host vehicle in the information center 100, or a photographed image and a daytime image taken by a visible light camera mounted on the host vehicle. Are performed by a process (for example, pixel averaging or alpha blending).

  The moving body extraction processing unit 17 extracts the moving body from the daytime image data input from the image acquisition unit 11 and outputs it to the moving body image correction processing unit 19. The risk level determination unit 18 determines the risk level from the distance from the mobile body detected by the distance sensor 2 and the collision time, and outputs the risk level to the mobile body image correction processing unit 19.

  In the moving object image correction processing unit 19, the display size correction processing unit 19a corrects the display size of the moving object according to the positional relationship between the moving object and the stationary object in the background image. Alternatively, the display size of the moving object is corrected according to the risk determined by the risk determination unit 18. The luminance correction processing unit 19b corrects the luminance of the moving body according to the risk determined by the risk determination unit 18.

  The composition processing unit 20 includes a brightness correction processing unit 20a for distance feeling and an enhancement correction processing unit 20b. The high-intensity background image 41 input from the background image correction processing unit 16 and the mobile body image correction processing unit 19 are input. Composite image data (FIGS. 4A and 4B) obtained by combining the moving object image data 42 or the icon 43 is created and output to the monitor 4.

  The high-precision moving object detection processing unit 21 uses the analysis result of the daytime image and the three-dimensional data of the stationary object around the host vehicle received from the information center 100, and the three-dimensional data of the stationary object from the detection result of the distance sensor 2. Is output to the alarm display determination processing unit 22. The alarm display determination processing unit 22 determines whether an alarm is necessary according to the detection result of the moving object, and outputs an alarm to the monitor 4.

  The information center 100 is a communication interface 101 that communicates with the vehicle 1 as a server, and a high-luminance image storage unit 102 that stores high-luminance image data received from the vehicle 1 via the communication interface 101, vehicle position information, and reception time information. A background image creation unit 103 that creates background image data from the high brightness image data stored in the high brightness image storage unit 102, and a background image storage unit 104 that stores the background image data created by the background image creation unit 103. Have.

  The background image creation unit 103 includes a luminance correction value calculation processing unit 103a, a moving object deletion processing unit 103b, and a transmission data creation processing unit 103c. The luminance correction value calculation processing unit 103a calculates a luminance correction value that is transmitted to the vehicle 1 side and used for luminance correction processing in the luminance correction processing unit 16a of the background image correction processing unit 16. The moving object deletion processing unit 103b creates background image data by performing a process of extracting a moving object from the high luminance image stored in the high luminance image storage unit 102 and a process of deleting the moving object extracted from the high luminance image. And stored in the background image storage unit 104. The transmission data creation processing unit 103 c reads background image data corresponding to the position information of the host vehicle received from the vehicle 1 from the background image storage unit 104 and transmits the background image data to the vehicle 1 via the communication interface 101.

[Processing flow]
FIG. 3 is a flowchart showing processing in the vehicle and the information center of the present embodiment.

  In FIG. 3, in the vehicle 1, first, the image acquisition unit 11 acquires captured image data from the external camera 5 and acquires current position information of the host vehicle from the position detection sensor 6 (S <b> 1). Next, the illuminance determination unit 12 calculates the average luminance from the captured image data input from the image acquisition unit 11 (S2), and determines whether the average luminance of the captured image is greater than a predetermined threshold K (S3). Here, if the average luminance of the captured image is greater than the predetermined threshold value K, it is determined as a daytime image, and the transmission data creation processing unit 14 sends the captured image data as the daytime image and the current position information of the host vehicle to the information center 100. While transmitting (S4), the daytime image is displayed on the monitor 4 (S5).

  On the other hand, if the average luminance of the captured image is equal to or less than the predetermined threshold value K in S3, it is determined as a night image, the risk determination unit 18 calculates the risk of the moving object (S6), and the mobile object extraction processing unit 17 determines from the night image. The moving body is extracted (S7), and the display size correction processing section 19a of the moving body image correction processing section 19 performs display size correction processing according to the distance from the moving body and the collision time (S8). Here, when the moving object is displayed as an image or an icon, the moving object image 51 or the icon 52 including noise detected by the distance sensor 2 as shown in FIGS. As shown in FIGS. 5C and 5D, the risk level (distance to the host vehicle, collision time, etc.) determined by the risk level determination unit 18 by the display size correction processing unit 19a, The display size of the moving object image 53 or icon 54 is corrected according to the positional relationship with the stationary object.

  Next, the luminance correction processing unit 19b performs luminance correction processing according to the risk of the moving body (S9). Here, as shown in FIG. 6A, according to the degree of risk determined by the degree-of-risk determination unit 18, for example, an image 61 of a moving body representing a pedestrian on the sidewalk that is closest to the host vehicle ( Alternatively, the display size of the icon) is increased, the color tone of the surrounding area is changed while the brightness is increased, or the icon 62 is highlighted with a mark 62 for alerting the driver as shown in FIG.

  Thereafter, the transmission data creation processing unit 14 transmits only the current position information of the own vehicle (for nighttime) to the information center 100 (S10).

  Next, the background image receiving unit 15 receives high luminance background image data (and luminance correction value) corresponding to the current position information of the host vehicle from the information center 100 (S11), and the luminance correction processing unit 16a sets the luminance correction value. The brightness correction process of the corresponding high brightness background image data is performed (S12). For example, as shown in FIGS. 7A and 7B, the luminance correction process darkens the upper area (for example, an empty area) of the high-luminance background image data in accordance with the illuminance at the current time, and lowers the lower area. The color is changed by changing the brightness so that the brightness gradually increases or by converting the tone curves of R, G, and B as shown in FIGS. 7 (c) and 7 (d). Alternatively, as shown in FIG. 8, the luminance correction may be performed by combining the night image 81 and the high luminance image 82 of the visible light camera using an overlap method or the like.

  Next, the composition processing unit 20 synthesizes the moving object image data input from the moving object image correction processing unit 19 and the high brightness background image data input from the background image correction processing unit 16 as shown in FIG. (S13), the luminance correction processing (S14) in the luminance correction processing unit 20a for the sense of distance, and the enhancement correction processing (S15) in the enhancement correction processing unit 20b are performed. In the brightness correction processing for the sense of distance, the composition processing unit 20 uses a set of background images and detection results from the distance sensor 2 to perform a stationary object (for example, a building, a power pole, 3D data of features such as signs). Alternatively, the three-dimensional data of the stationary object in the background image is acquired from the information center 100. Then, using the created three-dimensional data, the brightness is corrected so that the area far from the host vehicle is dark and the near area is bright as shown in FIG. Alternatively, the brightness correction processing unit 20a detects a vanishing point from a white road line or a sidewalk curb by image processing from a set of background images, darkens the vicinity of the vanishing point as shown in FIG. The brightness is corrected so that it is displayed brighter gradually toward the part.

  Further, in the enhancement correction process, the object information used for route guidance on the map database and the background image data are matched with the navigation system 8 and the route guidance landmarks as shown in FIG. 111 (for example, white lines, guardrails, traffic signs, traffic lights, road guidance displays, intersection direction indication guidance in route guidance) is identified and highlighted by increasing the brightness of the area. Make corrections. Also, as shown in FIG. 10B, when approaching an intersection (for example, 50 m before the intersection), a pedestrian or a bicycle may enter the area 112 or the intersection where there is a possibility of jumping out from the side of the parked vehicle. A region where the driver wants to predict danger, such as the region 113 that may be included, is identified, and correction is performed so that the luminance of the region is increased and highlighted.

  Then, after performing the mobile body detection process (S16) in the high precision mobile body detection process part 21, and the alarm output determination process (S17) in the alarm display determination process part 22, a synthesized image is displayed on the monitor 4 (S18). ). In this moving object detection process, the daytime image is analyzed, the three-dimensional data of the stationary object in the high-luminance background image is acquired from the information center 100, and the high-luminance is extracted from a plurality of high-luminance background images having substantially the same shooting position and angle. A moving object is detected by comparing images in which a stationary object is removed from a background image. This makes it possible to detect power poles, billboards, etc. and easily detect them as pedestrians due to noise, stereo cameras that are difficult to detect pedestrians in the distance due to low distance detection accuracy, and object identification due to low resolution Even when a millimeter-wave radar system or the like with inferior performance is mounted as a distance sensor, a road area and a sidewalk area are accurately detected, and a moving object such as a pedestrian is detected with high accuracy.

  The information center 100 receives the daytime image data and the current position information of the host vehicle from the vehicle 1 (S21), and stores the daytime image data, the position information of the host vehicle, and the reception time information in the high luminance image storage unit 102 ( S22), the background image creation unit 103 reads the daytime image data from the high-intensity image storage unit 102, and the moving body deletion processing unit 103b performs a process of extracting the moving body from the daytime image data and a process of deleting the extracted moving body. The background image data is generated and stored in the background image storage unit 104 (S24, S25).

  Next, the information center 100 receives the current position information of the host vehicle from the vehicle 1 (S26), and the background image creation unit 103 reads the background image data corresponding to the current position information of the host vehicle from the background image storage unit 104. (S27) The luminance correction value calculation processing unit 103a performs luminance correction value calculation processing (S28), and the transmission data creation processing unit 103c transmits the background image data and the luminance correction value to the vehicle 1 (S29).

[Description of effects]
According to this embodiment,
(1) An image taken when the host vehicle or another vehicle travels in the daytime is transmitted to the information center 100 together with position information.
(2) The information center 100 detects a moving object from a plurality of images taken at substantially the same position and angle and a plurality of images taken in time series.
(3) By deleting the moving object from the daytime image, a high-luminance background image of only the stationary object and the feature from which the moving object has been deleted is created and stored.
(4) When the host vehicle travels at night, the current position information is transmitted to the information center 100 to acquire a high-luminance background image at the current traveling position.
(5) A moving body such as a vehicle or a pedestrian approaching the host vehicle is detected by the distance sensor 2, and the distance from the moving body is measured or three-dimensional data is calculated to move the host vehicle to the high brightness background image. A color composite image is created so that the position with the body matches (FIG. 4).
(6) The color composite image is always displayed while being updated according to the current position information of the host vehicle at night or when the visibility distance of the driver is short.

The following effects are produced by the above processes (1) to (6).
・ Easily recognize the presence of moving objects such as pedestrians with distant drivers at an early stage.
・ Even at night, it can be seen with the same brightness as daytime, so the surrounding environment can be recognized accurately. .
-Even at night, the driver can recognize the surrounding environment in the same way as in the daytime, so it is easy to predict the danger of moving objects.
・ Because the structure of the road can be accurately grasped, the driving behavior to be performed by the driver can be accurately judged.
-Since it can be realized without using an ultra-sensitive camera that can shoot brightly at night, the cost is reduced.
-The system can be realized by diverting a distance sensor or a blind monitor camera, which reduces the cost.

Moreover, according to this embodiment,
(7) As shown in FIGS. 7 and 8, in a high-luminance background image, the brightness of the sky area is lowered and darkened in accordance with the current time and illuminance, or the tone is changed by converting the tone curves of R, G, and B. To change. Alternatively, the brightness is changed so that the upper area of the background image is darkened and the lower area is brightened.

  Thereby, since the high brightness | luminance area | region in a monitor can be made small, the light quantity which enters into a driver | operator's eyes from a monitor can be reduced, and it becomes easy to visually recognize the dark vehicle exterior. This prevents the monitor from being dazzling and making it difficult to see outside the vehicle.

  Also, on the monitor, the driver should pay attention to the moving body and blur the background area, so that the driver can use his / her attention to the background area wastefully or judge the driving behavior based only on the display image. Can be prevented.

  In addition, it is possible to display an image in which the driver can easily recognize the surrounding environment and the moving object even in a time zone or a condition that is dimmed before the street light is turned on such as a cloudy day or at dusk and the visibility of the driver is lowered.

  Also, even if the daytime shooting conditions are a bright daylight condition in the middle of a sunny day or a slightly dark condition in a cloudy evening, an image close to the current driving condition can be created.

Furthermore, according to this embodiment,
(8) As shown in FIG. 9, three-dimensional data of a stationary object is created from a set of background images. Then, using the three-dimensional data of the background area, the far area is dark and the near area is bright. Alternatively, the vanishing point is detected from the white line or curb of the road by image processing, the vanishing point is darkened near the center, and displayed so that the luminance gradually increases from the vanishing point toward the edge of the screen.

Thereby, the following effects are produced.
-The driver can accurately recognize dangerous objects.
・ The driver can determine the degree of danger of the object.
・ Because it is easy for the driver to recognize the sense of distance and perspective, as information for making judgments and operations as to what is the most dangerous object, how likely it is to collide, and in what direction and place Can be used.
・ It becomes easier to judge the brake timing and steering timing.

Moreover, according to this embodiment,
(9) As shown in FIG. 5, the image of the moving body detected by the distance sensor 2 or the data including noise is not synthesized as it is, but depending on not only the positional relationship of the background area but also the distance to the host vehicle. Change the display size.

  Thereby, the effect similar to said (8) is acquired.

Moreover, according to this embodiment,
(10) As shown in FIG. 10, characteristic objects (white lines, guardrails, etc.) in the road environment that make it easy to predict the behavior of the moving body, and road signs and traffic lights for the driver to drive safely and appropriately The landmarks such as are displayed easily.

Thereby, the following effects are produced.
・ Because the driver can recognize the surrounding environment, the behavior of pedestrians can be easily predicted.
-It is easier for the driver to predict the danger. For example, if there is a guardrail on the sidewalk, the pedestrian can judge that there is little risk of jumping out onto the roadway.
Even when the driver's visibility is short at night, it is possible to recognize traffic signs and road guidance that are effective for safe and appropriate driving, so that the driving burden can be reduced.

Moreover, according to this embodiment,
(11) As shown in FIG. 10, in conjunction with the navigation system 8, the object used for route guidance on the map database is aligned with the background image, and the brightness of the landmarks for route guidance is increased and highlighted. To do. Further, when approaching the intersection to some extent (for example, 50 meters before the intersection), the brightness of the area where the driver should pay attention when entering the intersection is increased and highlighted to prompt the driver to be alerted.

Thereby, the following effects are produced.
-Even in situations where the driver's visibility is short, such as at night or in the rain, it is easy to align navigation route guidance with objects and marks in the real space, so the driver's driving burden can be reduced.
-By linking with the navigation system, the navigation route guidance effect can be enhanced.
-The area where there is a high possibility of danger is not specified, and there is no explicit attention-guided display, so it is possible to improve the driver's ability to predict danger without impeding safety confirmation by the driver itself. .

Moreover, according to this embodiment,
(12) As shown in FIG. 6, the display size of the moving object is increased according to the degree of danger such as the distance to the host vehicle or the collision time, the brightness is increased, the color tone of the surrounding area is changed, and the attention is given. The degree of highlighting is switched by displaying a mark that means

  Thereby, the effect similar to said (8) is acquired.

Moreover, according to this embodiment,
(13) Analyzing daytime images and acquiring three-dimensional data of stationary objects in the high-intensity background image from the information center 100, and from a plurality of high-intensity background images having substantially the same shooting position and angle, A moving object is detected by comparing images from which stationary objects have been removed. This makes it possible to detect power poles, billboards, etc. and easily detect them as pedestrians due to noise, stereo cameras that are difficult to detect pedestrians in the distance due to low distance detection accuracy, and object identification due to low resolution Even when a millimeter-wave radar system or the like with inferior performance is mounted as a distance sensor, a road area and a sidewalk area are accurately detected, and a moving object such as a pedestrian is detected with high accuracy.

Thereby, the following effects are produced.
-Since accurate information can be provided to the driver, the driver's distrust of the system can be reduced.
・ It is possible to improve the distance measurement by the distance sensor and the detection performance of the moving object.
・ Addition of other sensors and complicated processing logic to remove noise is unnecessary.

Claims (11)

Position detecting means for detecting the position of the host vehicle;
Moving body detecting means for detecting a moving body that moves relative to the ground around the host vehicle;
Image photographing means for photographing an image around the own vehicle;
Illuminance detection means for detecting the illuminance around the host vehicle,
Determination means for determining whether the illuminance detected by the illuminance detection means is equal to or less than a predetermined threshold;
A transmission unit that transmits a captured high-luminance image together with the position information of the host vehicle to the information center when the determination unit determines that the illuminance exceeds a predetermined threshold ;
Receiving means for receiving a high-intensity background image corresponding to the position information of the host vehicle from the information center when the determination means determines that the illuminance is equal to or less than the predetermined threshold ;
A high-luminance background image corresponding to the acquired position information of the vehicle by the receiving means, synthesizing means for synthesizing the mobile object detected by said moving object detecting means,
Display means for displaying the image synthesized by the synthesis means ,
The information center
High-luminance image storage means for storing the high-luminance image together with position information of the host vehicle;
The high vehicular display device, which comprises organic and background image storage means for the moving body that is extracted from the luminance image storing high intensity background image removed from the high luminance image.   The vehicle display device according to claim 1, wherein the display unit displays the moving body as an icon.   2. The vehicle display device according to claim 1, further comprising luminance correction processing means for correcting the luminance so that the upper region of the high luminance background image received from the information center is dark and the lower region is bright. The luminance correction processing unit corrects the luminance by overlapping the image captured by the image capturing unit and the high-luminance background image when the illuminance is equal to or less than the predetermined threshold. Item 4. The vehicle display device according to Item 3 . The vehicle display device according to claim 3 , wherein the brightness correction processing unit changes a color tone of an upper region of the high brightness background image received from the information center. The synthesizing unit creates three-dimensional data of a stationary object stationary with respect to the ground from the high-luminance background image, and corrects the luminance so that the stationary object farther from the host vehicle becomes darker using the three-dimensional data. The vehicle display device according to claim 1, wherein   2. The vehicle according to claim 1, wherein the synthesizing unit calculates a vanishing point from the high-luminance background image, and corrects the luminance so that the darker the closer to the vanishing point and the brighter the farther from the vanishing point. Display device. Distance detecting means for detecting a distance between the moving body detected by the moving body detecting means and the host vehicle ;
Display size correcting means for changing the display size of the moving object combined with the high-luminance background image according to the distance between the moving object detected by the distance detecting means and the host vehicle. The vehicle display device according to claim 1.   The composition means further comprises an emphasis correction means for identifying an object to be paid attention to the driver from the high-luminance background image and correcting the object so as to highlight the identified object. The vehicle display device according to 1. The vehicle display according to claim 9 , wherein the emphasis correcting unit identifies an area that the driver wants to predict danger from the high-luminance background image, and corrects the identified area to be highlighted. apparatus. Further comprising a risk determination means for determining the risk according to the distance between the moving body and the vehicle detected by the distance detection means;
The vehicle display device according to claim 8 , wherein the synthesizing unit corrects the moving body having a higher degree of risk to be highlighted.